# Newton Gripper Cable Extension/Access to Gripper Internals

**URL:** <https://discuss.bluerobotics.com/t/newton-gripper-cable-extension-access-to-gripper-internals/11681>\
**Category:** Newton Gripper\
**Created:** [March 4, 2022, 8:53pm UTC](https://discuss.bluerobotics.com/t/newton-gripper-cable-extension-access-to-gripper-internals/11681 "2022-03-04T20:53:21Z")\
**Posts on this page:** 1\
**Showing post:** 2

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**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\
**Post date:** [March 5, 2022, 2:08am UTC](https://discuss.bluerobotics.com/t/newton-gripper-cable-extension-access-to-gripper-internals/11681/2 "2022-03-05T02:08:06Z")

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Hi @camershak,

> [@camershak](#):
>
> I know the claw is supposed to be a sort of black box

I wouldn’t really agree with that - we freely provide the [electronic and software design files](https://github.com/bluerobotics/newton-firmware/tree/master/Newton-Gripper), including a schematic of the ESC it uses, and the firmware source (in case you want to modify the behaviour). There’s also active [discussion on jaw modifications/alternatives](https://discuss.bluerobotics.com/t/newton-gripper-jaw-modifications/10300) elsewhere on the forum 🙂

> [@camershak](#):
>
> I would like to ask you guys how difficult it would be to remove the alan bolts on the end cap and replace the shorter wire with a longer one.

I don’t expect that should be particularly difficult. We sell [the cable](https://bluerobotics.com/store/cables-connectors/cables/cab-a-3-22awg-r1/) by the meter, but if you’re extending it quite a bit I’d recommend checking our [Voltage Drop Calculator](https://bluerobotics.com/learn/voltage-drop-calculator/) to ensure the cable can provide sufficient power. The internal ESC uses the same insulation displacement connectors as our Lumen PCBs, so your replacement may not even require soldering:

 ![internals-ESC](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/8/85a0ad88896351472b026b7b96c97bed21eb40a7.jpeg)  
Photo by @cwnetdev, from a previous support request

> [@Lumen light internal electrical connections](https://discuss.bluerobotics.com/t/lumen-light-internal-electrical-connections/7878/3):
>
> We use this punch tool on the insulation displacement connectors: [https://www.digikey.com/product-detail/en/avx-corporation/069176701602000/478-4623-ND/1650845](https://www.digikey.com/product-detail/en/avx-corporation/069176701602000/478-4623-ND/1650845)
> 
> The connectors are designed to use with this tool … [and] you might be unsuccessful or even cause damage without this tool. Without the tool, it might help to place some wadding like folded up paper towel over the wire before pushing it [(with a flat-head screwdriver)] in order to get some conformation and even pressure application.

It’s possible that the most involved part of the cable replacement would be replicating the connections on the inside of your electronics enclosure, although you may be able to re-use the existing connectors by cutting off short lengths of the existing wires and splicing them onto the ends of the new cable wires.

Do take care to keep the o-rings clean when disassembling/reassembling, to avoid creating a leak point 🙂

> [@camershak](#):
>
> Im assuming that I would need to replace the wet link seal at that moment as well.

Our [WetLink Penetrator technical details](https://bluerobotics.com/store/cables-connectors/penetrators/wlp-vp/#tab-technical-details) specify that the bulkheads and plugs are reusable (a few times), but the [seals](https://bluerobotics.com/store/cables-connectors/penetrators/wlp-vp/) are single-use, so you would indeed need to replace those.

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